自行车运动学模型Matlab代码实现

Emilin Amy

已于 2022-02-15 17:40:20 修改

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分类专栏：数学文章标签： matlab 开发语言

于 2022-02-15 17:39:41 首次发布

本文链接：https://blog.csdn.net/doublegalaxy/article/details/122949276

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该博客介绍了如何使用Matlab创建一个简化版的汽车动力学模型——自行车车辆模型。通过`bicycleKinematics`函数建立动力学模型，并利用ode45函数求解非刚性微分方程，模拟车辆动态行为。`bicycleKinematics.derivative`函数用于获取车辆状态的时间导数。

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openExample('robotics/PlotPathOfAnBicycleKinematicRobotExample')
kinematicModel = bicycleKinematics;
initialState = [0 0 0];
tspan = 0:0.05:1;
inputs = [2 pi/4]; %Turn left
[t,y] = ode45(@(t,y)derivative(kinematicModel,y,inputs),tspan,initialState);
figure
plot(y(:,1),y(:,2))

bicycleKinematics - Bicycle vehicle model

bicycleKinematics creates a bicycle vehicle model to simulate simplified
car-like vehicle dynamics.

kinematicModel = bicycleKinematics
kinematicModel = bicycleKinematics(Name,Value)

ode45 - 求解非刚性微分方程 - 中阶方法

此 MATLAB 函数（其中 tspan = [t0 tf]）求微分方程组 y'=f(t,y) 从 t0 到 tf 的积分，初始条件为 y0。解数组 y中的每一行都与列向量 t 中返回的值相对应。

[t,y] = ode45(odefun,tspan,y0)
[t,y] = ode45(odefun,tspan,y0,options)
[t,y,te,ye,ie] = ode45(odefun,tspan,y0,options)
sol = ode45(___)

bicycleKinematics.derivative - Time derivative of vehicle state

This MATLAB function returns the current state derivative, stateDot, as a three-element vector [xDot yDot thetaDot] if the motion model is a bicycleKinematics, differentialDriveKinematics, or unicycleKinematics object.

stateDot = derivative(motionModel,state,cmds)